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US 9,792,256 B2Granted
Method and device for monitoring an actuator system
AssigneeRobert Bosch GmbH
InventorsAlexandre Wagner, Ralf Buehrle
Life of this patent
Estimating the term…
Abstract
A method for monitoring an actuator in a physical system, including: providing a computer model that describes the actuator, the behavior of the actuator being represented by a computer model function and by one or more parameters of the computer model function; determining or adapting the values of the parameters of the computer model with the aid of one or more particular system quantities; determining an error when a specified error condition is fulfilled, the error condition defining when at least one of the parameters, and/or at least one quantity determined from a plurality of the parameters, lies outside a corresponding specified target deviation range for the relevant parameter or the relevant quantity.
Claims16
A method for monitoring an actuator in a physical system, the method comprising:
- monitoring, based on measured system quantities, the actuator, via a processor having a computer model that describes the actuator, the behavior of the actuator being represented by a computer model function and one or more parameters of the computer model function;
- determining or adapting values of the parameters of the computer model with the aid of one or more particular system quantities;
- determining an error when a specified error condition is fulfilled, the error condition defining when at least one of the parameters, and/or at least one quantity determined from a plurality of the parameters, lies outside a corresponding specified target deviation range for a relevant parameter or the relevant quantity;
- and
- determining that a component of the actuator is faulty if the error is determined;
- wherein the actuator includes an electromechanical throttle valve actuator for a throttle valve in an engine system having an internal combustion engine, the position of the throttle valve and/or an electric voltage applied to the electromechanical throttle valve actuator being specified as the system quantities, and
- wherein for the actuator, the error condition on the basis of which a particular error can be identified include at least one of the following error types:
- (i) an actuator spring is broken and/or missing, and/or a low resistance, and/or a short-circuit, and/or a weak motor, and/or defective permanent magnets;
- (ii) an actuator friction is too high due to contamination and/or stiffness;
- (iii) an actuator friction is too low due to wear, missing shaft sealant, and/or a broken coupling bar;
- (iv) an actuator component has a high resistance;
- and (v) the actuator component has a low resistance due to a short circuit, a weak motor, and/or defective permanent magnets, and
- wherein error types (i) correspond to the following error condition:
- α>S(α)+Δα&η/α<S(η/α)−Δ(η/α),
- wherein error types (ii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α>S(μ/α)+Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iv) correspond to the following error conditions:
- η/α>S(η/α)+Δ(η/α)
- (α<S(α)−Δα&
- μ/α>S(μ/α)+Δ(μ/α), and
- wherein error types (v) correspond to the following error conditions:
- α>S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α),
- where R is a winding resistance of an actuator drive of the actuator, L is an inductance of a winding of the actuator drive, I represents an actuator current through the actuator drive, J represents a mass moment of inertia, and Cm and Kgear represent a gear ratio,
- a
- =
- LJ
- C
- m
-
- K
- gear
- b
- =
- RJ
- +
- LD
- C
- m
-
- K
- gear
- c
- =
- C
- m
-
- K
- gear
- +
- RD
- +
- LC
- s
- C
- m
-
- K
- gear
- d
- =
- RC
- s
- C
- m
-
- K
- gear
- a
- 1
- =
- 8
-
- a
- d
-
-
- T
- 3
- b
- 1
- =
- 4
-
- b
- d
-
-
- T
- 2
- c
- 1
- =
- 2
-
- c
- d
-
-
- T
- α
- =
- 1
- a
- 1
- +
- b
- 1
- +
- c
- 1
- +
- d
- β
- =
- α
-
- (
- -
- 3
-
- a
- 1
- -
- b
- 1
- +
- c
- 1
- +
- 3
-
- d
- )
- γ
- =
- α
-
- (
- 3
-
- a
- 1
- -
- b
- 1
- -
- c
- 1
- +
- 3
-
- d
- )
- δ
- =
- -
- γ
- -
- β
- -
- 1
- +
- 8
-
- α
-
-
- d
- ,
- and where
- Mf({dot over (φ)}) is a friction moment and Ms(φ) is a return moment of an actuating element of the actuator, where A(ppre−ppost) is a counter-pressure moment that is exerted by a pressure differential that exists over the actuating element, and where
- ρ
- =
- α
-
-
- R
- C
- m
-
- K
- gear
- μ
- =
- ρ
-
-
- M
- coul
- η
- =
- 8
-
- ρ
-
-
- M
- 0
- κ
- =
- ρ
-
-
- A
- .
209 more elements
A device for monitoring an actuator in a physical system, which includes a control device for operating the physical system having the actuator, comprising:
- a monitoring arrangement to monitor, based on measured system quantities, the actuator, via a processor having a computer model that describes the actuator, the behavior of the actuator being represented by a computer model function and one or more parameters of the computer model function;
- wherein the monitoring arrangement is configured to determine or adapt values of the parameters of the computer model with the aid of one or more particular system quantities,
- wherein the monitoring arrangement is configured to determine an error when a specified error condition is fulfilled, the error condition defining when at least one of the parameters, and/or at least one quantity determined from a plurality of the parameters, lies outside a corresponding specified target deviation range for a relevant parameter or the relevant quantity,
- wherein the monitoring arrangement is configured to determine that a component of the actuator is faulty if the error is determined,
- wherein the actuator includes an electromechanical throttle valve actuator for a throttle valve in an engine system having an internal combustion engine, the position of the throttle valve and/or an electric voltage applied to the electromechanical throttle valve actuator being specified as the system quantities, and
- wherein for the actuator, the error condition on the basis of which a particular error can be identified include at least one of the following error types:
- (i) an actuator spring is broken and/or missing, and/or a low resistance, and/or a short-circuit, and/or a weak motor, and/or defective permanent magnets;
- (ii) an actuator friction is too high due to contamination and/or stiffness;
- (iii) an actuator friction is too low due to wear, missing shaft sealant, and/or a broken coupling bar;
- (iv) an actuator component has a high resistance;
- and (v) the actuator component has a low resistance due to a short circuit, a weak motor, and/or defective permanent magnets, and
- wherein error types (i) correspond to the following error condition:
- α>S(α)+Δα&η/α<S(η/α)−Δ(η/α),
- wherein error types (ii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α>S(μ/α)+Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iv) correspond to the following error conditions:
- η/α>S(η/α)+Δ(η/α)
- (α<S(α)−Δα&
- μ/α>S(μ/α)+Δ(μ/α), and
- wherein error types (v) correspond to the following error conditions:
- α>S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α),
- where R is a winding resistance of an actuator drive of the actuator, L is an inductance of a winding of the actuator drive, I represents an actuator current through the actuator drive, J represents a mass moment of inertia, and Cm and Kgear represent a gear ratio,
- a
- =
- LJ
- C
- m
-
- K
- gear
- b
- =
- RJ
- +
- LD
- C
- m
-
- K
- gear
- c
- =
- C
- m
-
- K
- gear
- +
- RD
- +
- LC
- s
- C
- m
-
- K
- gear
- d
- =
- RC
- s
- C
- m
-
- K
- gear
- ,
-
- a
- 1
- =
- 8
-
- a
- d
-
-
- T
- 3
- b
- 1
- =
- 4
-
- b
- d
-
-
- T
- 2
- c
- 1
- =
- 2
-
- c
- d
-
-
- T
- α
- =
- 1
- a
- 1
- +
- b
- 1
- +
- c
- 1
- +
- d
- β
- =
- α
-
- (
- -
- 3
-
- a
- 1
- -
- b
- 1
- +
- c
- 1
- +
- 3
-
- d
- )
- γ
- =
- α
-
- (
- 3
-
- a
- 1
- -
- b
- 1
- -
- c
- 1
- +
- 3
-
- d
- )
- δ
- =
- -
- γ
- -
- β
- -
- 1
- +
- 8
-
- α
-
-
- d
- ,
- and where
- Mf({dot over (φ)}) is a friction moment and Ms(φ) is a return moment of an actuating element of the actuator, where A(ppre−ppost) is a counter-pressure moment that is exerted by a pressure differential that exists over the actuating element, and where
- ρ
- =
- α
-
-
- R
- C
- m
-
- K
- gear
- μ
- =
- ρ
-
-
- M
- coul
- η
- =
- 8
-
- ρ
-
-
- M
- 0
- κ
- =
- ρ
-
-
- A
- .
210 more elements
An actuator system, comprising:
- an actuator;
- and
- a device for monitoring an actuator in a physical system, which includes a control device for operating the physical system having the actuator, including:
- a monitoring arrangement to monitor, based on measured system quantities, the actuator, via a processor having a computer model that describes the actuator, the behavior of the actuator being represented by a computer model function and one or more parameters of the computer model function;
- wherein the monitoring arrangement is configured to determine or adapt values of the parameters of the computer model with the aid of one or more particular system quantities,
- wherein the monitoring arrangement is configured to determine an error when a specified error condition is fulfilled, the error condition defining when at least one of the parameters, and/or at least one quantity determined from a plurality of the parameters, lies outside a corresponding specified target deviation range for a relevant parameter or the relevant quantity,
- wherein the monitoring arrangement is configured to determine that a component of the actuator is faulty if the error is determined, and
- wherein the actuator includes an electromechanical throttle valve actuator for a throttle valve in an engine system having an internal combustion engine, the position of the throttle valve and/or an electric voltage applied to the electromechanical throttle valve actuator being specified as the system quantities, and
- wherein for the actuator, the error condition on the basis of which a particular error can be identified include at least one of the following error types:
- (i) an actuator spring is broken and/or missing, and/or a low resistance, and/or a short-circuit, and/or a weak motor, and/or defective permanent magnets:
- (ii) an actuator friction is too high due to contamination and/or stiffness;
- (iii) an actuator friction is too low due to wear, missing shaft sealant, and/or a broken coupling bar;
- (iv) an actuator component has a high resistance;
- and (v) the actuator component has a low resistance due to a short circuit, a weak motor, and/or defective permanent magnets, and
- wherein error types (i) correspond to the following error condition:
- α>S(α)+Δα&η/α<S(η/α)−Δ(η/α),
- wherein error types (ii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α>S(μ/α)+Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iv) correspond to the following error conditions:
- η/α>S(η/α)+Δ(η/α)
- (α<S(α)−Δα&
- μ/α>S(μ/α)+Δ(μ/α), and
- wherein error types (v) correspond to the following error conditions:
- α>S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α),
- where R is a winding resistance of an actuator drive of the actuator, L is an inductance of a winding of the actuator drive, I represents an actuator current through the actuator drive, J represents a mass moment of inertia, and Cm and Kgear represent a gear ratio,
- a
- =
- LJ
- C
- m
-
- K
- gear
- b
- =
- RJ
- +
- LD
- C
- m
-
- K
- gear
- c
- =
- C
- m
-
- K
- gear
- +
- RD
- +
- LC
- s
- C
- m
-
- K
- gear
- d
- =
- RC
- s
- C
- m
-
- K
- gear
- a
- 1
- =
- 8
-
- a
- d
-
-
- T
- 3
- b
- 1
- =
- 4
-
- b
- d
-
-
- T
- 2
- c
- 1
- =
- 2
-
- c
- d
-
-
- T
- α
- =
- 1
- a
- 1
- +
- b
- 1
- +
- c
- 1
- +
- d
- β
- =
- α
-
- (
- -
- 3
-
- a
- 1
- -
- b
- 1
- +
- c
- 1
- +
- 3
-
- d
- )
- γ
- =
- α
-
- (
- 3
-
- a
- 1
- -
- b
- 1
- -
- c
- 1
- +
- 3
-
- d
- )
- δ
- =
- -
- γ
- -
- β
- -
- 1
- +
- 8
-
- α
-
-
- d
- ,
- and where
- Mf({dot over (φ)}) is a friction moment and Ms(φ) is a return moment of an actuating element of the actuator, where A(ppre−ppost) is a counter-pressure moment that is exerted by a pressure differential that exists over the actuating element, and where
- ρ
- =
- α
-
-
- R
- C
- m
-
- K
- gear
- μ
- =
- ρ
-
-
- M
- coul
- η
- =
- 8
-
- ρ
-
-
- M
- 0
- κ
- =
- ρ
-
-
- A
- .
211 more elements
A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:
- a program code arrangement having program code for monitoring an actuator in a physical system, by performing the following:
- monitoring, based on measured system quantities, the actuator, via a processor having a computer model that describes the actuator, the behavior of the actuator being represented by a computer model function and one or more parameters of the computer model function;
- determining or adapting values of the parameters of the computer model with the aid of one or more particular system quantities;
- determining an error when a specified error condition is fulfilled, the error condition defining when at least one of the parameters, and/or at least one quantity determined from a plurality of the parameters, lies outside a corresponding specified target deviation range for a relevant parameter or the relevant quantity;
- and
- determining that a component of the actuator is faulty if the error is determined;
- wherein the actuator includes an electromechanical throttle valve actuator for a throttle valve in an engine system having an internal combustion engine, the position of the throttle valve and/or an electric voltage applied to the electromechanical throttle valve actuator being specified as the system quantities, and
- wherein for the actuator, the error condition on the basis of which a particular error can be identified include at least one of the following error types:
- (i) an actuator spring is broken and/or missing, and/or a low resistance, and/or a short-circuit, and/or a weak motor, and/or defective permanent magnets:
- (ii) an actuator friction is too high due to contamination and/or stiffness:
- (iii) an actuator friction is too low due to wear, missing shaft sealant, and/or a broken coupling bar:
- (iv) an actuator component has a high resistance;
- and (v) the actuator component has a low resistance due to a short circuit, a weak motor, and/or defective permanent magnets, and
- wherein error types (i) correspond to the following error condition:
- α>S(α)+Δα&η/α<S(η/α)−Δ(η/α),
- wherein error types (ii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α>S(μ/α)+Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iii) correspond to the following error conditions:
- S(α)−Δα<α<S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α)&
- S(η/α)−Δ(η/α)<η/α<S(η/α)+Δ(η/α),
- wherein error types (iv) correspond to the following error conditions:
- η/α>S(η/α)+Δ(η/α)
- (α<S(α)−Δα&
- μ/α>S(μ/α)+Δ(μ/α), and
- wherein error types (v) correspond to the following error conditions:
- α>S(α)+Δα&
- μ/α<S(μ/α)−Δ(μ/α),
- where R is a winding resistance of an actuator drive of the actuator, L is an inductance of a winding of the actuator drive, I represents an actuator current through the actuator drive, J represents a mass moment of inertia, and Cm and Kgear represent a gear ratio, and where
- a
- =
- LJ
- C
- m
-
- K
- gear
- b
- =
- RJ
- +
- LD
- C
- m
-
- K
- gear
- c
- =
- C
- m
-
- K
- gear
- +
- RD
- +
- LC
- s
- C
- m
-
- K
- gear
- d
- =
- RC
- s
- C
- m
-
- K
- gear
- a
- 1
- =
- 8
-
- a
- d
-
-
- T
- 3
- b
- 1
- =
- 4
-
- b
- d
-
-
- T
- 2
- c
- 1
- =
- 2
-
- c
- d
-
-
- T
- α
- =
- 1
- a
- 1
- +
- b
- 1
- +
- c
- 1
- +
- d
- β
- =
- α
-
- (
- -
- 3
-
- a
- 1
- -
- b
- 1
- +
- c
- 1
- +
- 3
-
- d
- )
- γ
- =
- α
-
- (
- 3
-
- a
- 1
- -
- b
- 1
- -
- c
- 1
- +
- 3
-
- d
- )
- δ
- =
- -
- γ
- -
- β
- -
- 1
- +
- 8
-
- α
-
-
- d
- ,
- and where
- Mf({dot over (φ)}) is a friction moment and Ms(φ) is a return moment of an actuating element of the actuator, where A(ppre−ppost) is a counter-pressure moment that is exerted by a pressure differential that exists over the actuating element, and where
- ρ
- =
- α
-
-
- R
- C
- m
-
- K
- gear
- μ
- =
- ρ
-
-
- M
- coul
- η
- =
- 8
-
- ρ
-
-
- M
- 0
- κ
- =
- ρ
-
-
- A
- .
210 more elements
Dependencies are inferred from the claim text.